private float RecalculateRelativeTurnSpeed(ChassisNode node, float dt, float maxTurnSpeed, float relativeTurnSpeed, float slopeCoeff)
{
ChassisComponent chassis = node.chassis;
ChassisConfigComponent chassisConfig = node.chassisConfig;
float num = node.speedConfig.TurnAcceleration * 0.01745329f;
float num2 = this.CalculateTurnCoefficient(node.track);
float num3 = 0f;
if (chassis.EffectiveTurnAxis == 0f)
{
num3 = ((-MathUtil.Sign(relativeTurnSpeed) * num) * slopeCoeff) * dt;
if (MathUtil.Sign(relativeTurnSpeed) != MathUtil.Sign(relativeTurnSpeed + num3))
{
num3 = -relativeTurnSpeed;
}
}
else
{
if (this.IsReversedTurn(chassis.EffectiveTurnAxis, relativeTurnSpeed))
{
num = node.speedConfig.ReverseTurnAcceleration * 0.01745329f;
}
num3 = ((chassis.EffectiveTurnAxis * num) * slopeCoeff) * dt;
if ((chassis.EffectiveMoveAxis == -1f) && chassisConfig.ReverseBackTurn)
{
num3 = -num3;
}
}
return(Mathf.Clamp((float)(relativeTurnSpeed + num3), (float)(-maxTurnSpeed * num2), (float)(maxTurnSpeed * num2)));
}
private void ApplyMovementForces(ChassisNode node, float dt)
{
TrackComponent track = node.track;
if ((track.LeftTrack.numContacts + track.RightTrack.numContacts) > 0)
{
Vector3 vector;
Vector3 vector2;
float num2;
Rigidbody rigidbody = node.rigidbody.Rigidbody;
ChassisConfigComponent chassisConfig = node.chassisConfig;
this.CalculateNetSurfaceVelocities(node, out vector, out vector2);
float num = this.CalculateSlopeCoefficient(rigidbody.transform.up.y);
rigidbody.SetVelocitySafe(this.CalculateRigidBodyVelocity(rigidbody, vector, (node.speedConfig.SideAcceleration * num) * dt, out num2));
if ((track.LeftTrack.numContacts > 0) || (track.RightTrack.numContacts > 0))
{
Vector3 vector4 = this.CalculateRelativeAngularVelocity(node, dt, num * 1.2f, vector2, num2);
Vector3 normalized = rigidbody.transform.InverseTransformDirection(rigidbody.angularVelocity).normalized;
if ((Mathf.Abs(node.chassis.TurnAxis) > 0f) && (Mathf.Sign(normalized.y) != Mathf.Sign(node.chassis.TurnAxis)))
{
float y = Mathf.Lerp(0f, normalized.y, (0.2f * dt) * 60f);
vector2 -= rigidbody.transform.TransformDirection(new Vector3(0f, y, 0f));
}
rigidbody.SetAngularVelocitySafe(vector2 + vector4);
}
}
}
private void UpdateInput(ChassisNode tank, bool inputEnabled)
{
ChassisComponent chassis = tank.chassis;
bool flag = tank.Entity.HasComponent <TankMovableComponent>();
chassis.EffectiveMoveAxis = !flag ? 0f : chassis.MoveAxis;
chassis.EffectiveTurnAxis = !flag ? 0f : chassis.TurnAxis;
}
private void AddSurfaceVelocitiesFromRay(ChassisNode node, SuspensionRay ray, Vector3 contactsMidpoint, ref Vector3 surfaceVelocity, ref Vector3 angularSurfaceVelocity)
{
if (ray.hasCollision)
{
surfaceVelocity += ray.surfaceVelocity;
Vector3 lhs = ray.rayHit.point - contactsMidpoint;
float sqrMagnitude = lhs.sqrMagnitude;
if (sqrMagnitude > 0.0001f)
{
angularSurfaceVelocity += Vector3.Cross(lhs, ray.surfaceVelocity) / sqrMagnitude;
}
}
}
private float CalculateForcePerRay(ChassisNode node, float dt, float forwardRelativeSpeed)
{
ChassisConfigComponent chassisConfig = node.chassisConfig;
ChassisComponent chassis = node.chassis;
float maxSpeed = node.effectiveSpeed.MaxSpeed;
TrackComponent track = node.track;
Rigidbody rigidbody = node.rigidbody.Rigidbody;
float acceleration = node.speed.Acceleration;
float num3 = 0f;
if (chassis.EffectiveMoveAxis == 0f)
{
num3 = (-MathUtil.Sign(forwardRelativeSpeed) * acceleration) * dt;
if (MathUtil.Sign(forwardRelativeSpeed) != MathUtil.Sign(forwardRelativeSpeed + num3))
{
num3 = -forwardRelativeSpeed;
}
}
else
{
if (this.IsReversedMove(chassis.EffectiveMoveAxis, forwardRelativeSpeed))
{
acceleration = node.speedConfig.ReverseAcceleration;
}
num3 = (chassis.EffectiveMoveAxis * acceleration) * dt;
}
float f = Mathf.Clamp(forwardRelativeSpeed + num3, -maxSpeed, maxSpeed);
float num5 = f - forwardRelativeSpeed;
float num6 = 1f;
float num7 = (maxSpeed <= 0f) ? num6 : Mathf.Clamp01(1f - Mathf.Abs((float)(forwardRelativeSpeed / maxSpeed)));
if ((num7 < num6) && ((chassis.EffectiveMoveAxis * MathUtil.Sign(forwardRelativeSpeed)) > 0f))
{
num5 *= num7 / num6;
}
float num8 = num5 / dt;
if ((Mathf.Abs(num8) < 4f) && (Mathf.Abs(f) > (0.5f * maxSpeed)))
{
num8 = MathUtil.SignEpsilon(num8, 0.1f) * 4f;
}
int num10 = track.LeftTrack.numContacts + track.RightTrack.numContacts;
int num11 = 2 * chassisConfig.NumRaysPerTrack;
float num12 = ((num8 * rigidbody.mass) * (num10 + (0.42f * (num11 - track.LeftTrack.numContacts)))) / ((float)num11);
return((num10 <= 0) ? num12 : (num12 / ((float)num10)));
}
private void CalculateNetSurfaceVelocities(ChassisNode node, out Vector3 surfaceVelocity, out Vector3 angularSurfaceVelocity)
{
ChassisConfigComponent chassisConfig = node.chassisConfig;
TrackComponent track = node.track;
Vector3 contactsMidpoint = this.GetContactsMidpoint(chassisConfig, track);
surfaceVelocity = Vector3.zero;
angularSurfaceVelocity = Vector3.zero;
for (int i = 0; i < chassisConfig.NumRaysPerTrack; i++)
{
this.AddSurfaceVelocitiesFromRay(node, track.LeftTrack.rays[i], contactsMidpoint, ref surfaceVelocity, ref angularSurfaceVelocity);
this.AddSurfaceVelocitiesFromRay(node, track.RightTrack.rays[i], contactsMidpoint, ref surfaceVelocity, ref angularSurfaceVelocity);
}
float num2 = track.LeftTrack.numContacts + track.RightTrack.numContacts;
surfaceVelocity = (num2 <= 0f) ? surfaceVelocity : (surfaceVelocity / num2);
angularSurfaceVelocity = (num2 <= 0f) ? angularSurfaceVelocity : (angularSurfaceVelocity / num2);
}
public void FixedUpdate(FixedUpdateEvent evt, ChassisNode chassisNode, [JoinSelf] Optional <SingleNode <TankSyncComponent> > tankSync, [JoinByTank] Optional <SingleNode <TankJumpComponent> > tankJump, [JoinAll] SingleNode <GameTankSettingsComponent> gameTankSettings, [JoinAll] Optional <SingleNode <BattleActionsStateComponent> > inputState)
{
if (!tankJump.IsPresent() || !tankJump.Get().component.isNearBegin())
{
bool inputEnabled = inputState.IsPresent();
if (chassisNode.Entity.HasComponent <SelfTankComponent>())
{
this.UpdateSelfInput(chassisNode, inputEnabled, gameTankSettings.component.MovementControlsInverted);
}
this.UpdateInput(chassisNode, inputEnabled);
ChassisSmootherComponent chassisSmoother = chassisNode.chassisSmoother;
chassisSmoother.maxSpeedSmoother.SetTargetValue(chassisNode.speed.Speed);
float num = chassisSmoother.maxSpeedSmoother.Update(evt.DeltaTime);
chassisNode.effectiveSpeed.MaxSpeed = num;
Rigidbody rigidbody = chassisNode.rigidbody.Rigidbody;
if (rigidbody)
{
float x = rigidbody.velocity.x;
float z = rigidbody.velocity.z;
float t = (!tankJump.IsPresent() || !tankJump.Get().component.OnFly) ? 1f : tankJump.Get().component.GetSlowdownLerp();
if (((x * x) + (z * z)) > (num * num))
{
float num5 = Mathf.Lerp(1f, num / ((float)Math.Sqrt((double)((x * x) + (z * z)))), t);
Vector3 velocity = new Vector3(rigidbody.velocity.x * num5, rigidbody.velocity.y, rigidbody.velocity.z * num5);
rigidbody.SetVelocitySafe(velocity);
}
chassisSmoother.maxTurnSpeedSmoother.SetTargetValue(chassisNode.speed.TurnSpeed);
chassisNode.effectiveSpeed.MaxTurnSpeed = chassisSmoother.maxTurnSpeedSmoother.Update(evt.DeltaTime);
this.AdjustSuspensionSpringCoeff(chassisNode.chassisConfig, chassisNode.chassis, chassisNode.rigidbody.Rigidbody);
float updatePeriod = 0f;
if (!tankSync.IsPresent())
{
updatePeriod = chassisNode.cameraVisibleTrigger.IsVisible ? 0.05f : 0.1f;
updatePeriod += Random.value * 0.05f;
}
if (this.UpdateSuspensionContacts(chassisNode.track, evt.DeltaTime, updatePeriod) && tankJump.IsPresent())
{
tankJump.Get().component.FinishAndSlowdown();
}
this.ApplyMovementForces(chassisNode, evt.DeltaTime);
this.ApplyStaticFriction(chassisNode.track, chassisNode.rigidbody.Rigidbody);
}
}
}
private Vector3 CalculateRelativeAngularVelocity(ChassisNode node, float dt, float slopeCoeff, Vector3 surfaceAngularVelocity, float forwardRelativeSpeed)
{
ChassisConfigComponent chassisConfig = node.chassisConfig;
TrackComponent track = node.track;
Rigidbody rigidbody = node.rigidbody.Rigidbody;
float maxTurnSpeed = node.effectiveSpeed.MaxTurnSpeed * 0.01745329f;
Vector3 up = rigidbody.transform.up;
Vector3 forward = rigidbody.transform.forward;
Vector3 lhs = rigidbody.angularVelocity - surfaceAngularVelocity;
float relativeTurnSpeed = Vector3.Dot(lhs, up);
float forcePerRay = this.CalculateForcePerRay(node, dt, forwardRelativeSpeed);
for (int i = 0; i < chassisConfig.NumRaysPerTrack; i++)
{
this.ApplyForceFromRay(track.LeftTrack.rays[i], rigidbody, forward, forcePerRay);
this.ApplyForceFromRay(track.RightTrack.rays[i], rigidbody, forward, forcePerRay);
}
float num5 = Vector3.Dot(lhs, up);
return(lhs + ((this.RecalculateRelativeTurnSpeed(node, dt, maxTurnSpeed, relativeTurnSpeed, slopeCoeff) - num5) * up));
}
private void UpdateSelfInput(ChassisNode tank, bool inputEnabled, bool inverse)
{
ChassisComponent chassis = tank.chassis;
float x = !inputEnabled ? 0f : (InputManager.GetUnityAxis(RIGHT_AXIS) - InputManager.GetUnityAxis(LEFT_AXIS));
float y = !inputEnabled ? 0f : (InputManager.GetUnityAxis(FORWARD_AXIS) - InputManager.GetUnityAxis(BACKWARD_AXIS));
if (inverse && (y < 0f))
{
x *= -1f;
}
Vector2 vector = new Vector2(chassis.TurnAxis, chassis.MoveAxis);
Vector2 vector2 = new Vector2(x, y);
if (vector2 != vector)
{
chassis.TurnAxis = x;
chassis.MoveAxis = y;
bool flag = tank.Entity.HasComponent <TankMovableComponent>();
chassis.EffectiveMoveAxis = !flag ? 0f : chassis.MoveAxis;
chassis.EffectiveTurnAxis = !flag ? 0f : chassis.TurnAxis;
base.ScheduleEvent <ChassisControlChangedEvent>(tank);
}
}
